Integrate ClearCostmapExceptRegion and ClearCostmapAroundRobot Services into the API

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

@@ -35,8 +35,8 @@
     UndockRobot,
 )
 from nav2_msgs.action import SmoothPath
-from nav2_msgs.srv import ClearEntireCostmap, GetCostmap, LoadMap, ManageLifecycleNodes
-
+from nav2_msgs.srv import ClearCostmapAroundRobot, ClearCostmapExceptRegion, ClearEntireCostmap
+from nav2_msgs.srv import GetCostmap, LoadMap, ManageLifecycleNodes
 import rclpy
 from rclpy.action import ActionClient
 from rclpy.duration import Duration as rclpyDuration
@@ -117,6 +117,12 @@ def __init__(self, node_name='basic_navigator', namespace=''):
         self.clear_costmap_local_srv = self.create_client(
             ClearEntireCostmap, 'local_costmap/clear_entirely_local_costmap'
         )
+        self.clear_costmap_except_region_srv = self.create_client(
+            ClearCostmapExceptRegion, 'local_costmap/clear_costmap_except_region'
+        )
+        self.clear_costmap_around_robot_srv = self.create_client(
+            ClearCostmapAroundRobot, 'local_costmap/clear_costmap_around_robot'
+        )
         self.get_costmap_global_srv = self.create_client(
             GetCostmap, 'global_costmap/get_costmap'
         )
@@ -767,6 +773,26 @@ def clearGlobalCostmap(self):
         rclpy.spin_until_future_complete(self, future)
         return
 
+    def clearCostmapExceptRegion(self, reset_distance: float):
+        """Clear the costmap except for a specified region."""
+        while not self.clear_costmap_except_region_srv.wait_for_service(timeout_sec=1.0):
+            self.info('ClearCostmapExceptRegion service not available, waiting...')
+        req = ClearCostmapExceptRegion.Request()
+        req.reset_distance = reset_distance
+        future = self.clear_costmap_except_region_srv.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        return
+
+    def clearCostmapAroundRobot(self, reset_distance: float):
+        """Clear the costmap around the robot."""
+        while not self.clear_costmap_around_robot_srv.wait_for_service(timeout_sec=1.0):
+            self.info('ClearCostmapAroundRobot service not available, waiting...')
+        req = ClearCostmapAroundRobot.Request()
+        req.reset_distance = reset_distance
+        future = self.clear_costmap_around_robot_srv.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        return
+
     def getGlobalCostmap(self):
         """Get the global costmap."""
         while not self.get_costmap_global_srv.wait_for_service(timeout_sec=1.0):